1. A navigation and positioning method for a dental implant robot is characterized by comprising the following steps:

step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;

step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;

step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate system_CAnd the entry point directionWherein the entry point position A_CAnd the entry point directionForming an entrance point target pose under a CT coordinate system;

step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; the mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;

step S5, the entry point position A of the target path under the CT coordinate system determined in step S3_CAnd the entry point directionConverting the position into an entry point position A of a target path under a mechanical arm base coordinate system_BAnd the entry point direction

Wherein:

i is a unit vector of 3 rows and 3 columns;

^CT_Sa transformation matrix from a CT coordinate system to a patient tracer coordinate system;

^ST_Oa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder;

^OT_Ta transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system;

^TT_Ea transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm;

^ET_Ba conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm;

step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;

origin of coordinates o: the entry point position A of the target path in the robot base coordinate system_BIs the origin of coordinates;

the x axis is as follows: the entry point direction of the target path in the robot base coordinate systemIs the x-axis;

and a y axis: uses the z-axis of the TCP coordinate system at the tail end of the mechanical arm to be arranged on the mechanical armDirection vector under base coordinate systemAndas a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system

And a z-axis: to be provided withAndas a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system

S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate system^TipT_E：

S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o₁Determining x₁Axis, y₁Axis and z₁A shaft;

origin of coordinates o₁: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical arm_EIs the origin of coordinates;

x₁shaft: TCP coordinate at the end of the mechanical arm in the direction of the toolDirection vector of the systemAs x₁Direction vector of shaft under TCP coordinate system at tail end of mechanical arm

y₁Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm andas a result of cross multiplication of (a) as y₁Direction vector y of shaft under TCP coordinate system at tail end of mechanical arm_E；

z₁Shaft: to be provided withAnd y_EAs a result of cross multiplication of (a) as z₁Direction vector z of shaft under TCP coordinate system at tail end of mechanical arm_E；

S7.2, constructing and obtaining a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate system^TipT_E：

Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target pose^E′T_BThe method comprises the following steps:

when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate system^TipT_BEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate system^Tip′T_BThus, the following relationship is present:

^TipT_B＝^Tip′T_B

and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate system^TipT_BComprises the following steps:

^TipT_B＝^TipT_E·^ET_B

therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical arm^E′T_BComprises the following steps:

^E′T_B＝(^TipT_E)^-1·^TipT_B＝(^TipT_E)^-1·^Tip′T_B

step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical arm^E′T_BGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;

step S10, when the motion of each joint of the mechanical arm of the dental implant robot is finished, the position coordinate A of the tip of the tool under the coordinate system of the base of the mechanical arm is calculated "_BAnd the direction vector of the tool in the coordinate system of the base of the arm

The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "_BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5_BComparing to obtain a position coordinate error;

the direction vector of the tool under the coordinate system of the base of the mechanical armAnd the entry point direction of the target path in the robot arm base coordinate system obtained in step S5Comparing to obtain a direction vector error;

step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.

2. The method of claim 1, wherein the patient tracer comprises 9 titanium beads, 4 positioning balls and a rigid support that is not easily imaged in a CT scan image;

wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.

3. The method as claimed in claim 1, wherein the tool tracer comprises a rigid support and 4 positioning balls, the positioning balls are fixedly mounted at the end of the mechanical arm, and the coordinates of each positioning ball in the coordinate system of the tool tracer are known.

4. The method for navigating and positioning a dental implant robot according to claim 1, wherein in step S5, the parameters are obtained by:

^CT_S: measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;

^ST_O: the coordinate of a positioning ball on a tracer of a patient is measured and calculated by an optical positioning instrument;

^OT_T: the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;

^TT_E: is obtained by calibration of hands and eyes;

^ET_B: by means of arm controlsAnd reading.

Background

In the traditional dental implant surgery, a doctor needs to hold a scalpel for operation, so that the better surgical effect is achieved, and the high requirements on the operation precision and stability of the doctor are met; in addition, the doctor is easy to fatigue after performing a plurality of operations, and the operation effect is also influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a navigation and positioning method for a tooth implantation robot, which can effectively solve the problems.

The technical scheme adopted by the invention is as follows:

the invention provides a navigation and positioning method of a dental implant robot, which comprises the following steps:

step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;

step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;

step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate system_CAnd the entry point directionWherein the entry point position A_CAnd the entry point directionForming an entrance point target pose under a CT coordinate system;

step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; the mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;

step S5, the entry point position A of the target path under the CT coordinate system determined in step S3_CAnd the entry point directionConverting the position into an entry point position A of a target path under a mechanical arm base coordinate system_BAnd the entry point direction

Wherein:

i is a unit vector of 3 rows and 3 columns;

^CT_Sa transformation matrix from a CT coordinate system to a patient tracer coordinate system;

^ST_Oa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder;

^OT_Ta transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system;

^TT_Ea transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm;

^ET_Ba conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm;

step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;

origin of coordinates o: the entry point position A of the target path in the robot base coordinate system_BIs the origin of coordinates;

the x axis is as follows: the entry point direction of the target path in the robot base coordinate systemIs the x-axis;

and a y axis: the direction vector of the z axis of the TCP coordinate system at the tail end of the mechanical arm under the coordinate system of the base of the mechanical armAndas a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system

And a z-axis: to be provided withAndas a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system

S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate system^TipT_E：

S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o₁Determining x₁Axis, y₁Axis and z₁A shaft;

origin of coordinates o₁: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical arm_EIs the origin of coordinates;

x₁shaft: direction vector of tool direction under TCP coordinate system at tail end of mechanical armAs x₁Direction vector of shaft under TCP coordinate system at tail end of mechanical arm

y₁Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm andas a result of cross multiplication of (a) as y₁Direction vector y of shaft under TCP coordinate system at tail end of mechanical arm_E；

z₁Shaft: to be provided withAnd y_EAs a result of cross multiplication of (a) as z₁Direction vector z of shaft under TCP coordinate system at tail end of mechanical arm_E；

S7.2, constructing and obtaining a coordinate system from a surgical tool coordinate system Tip to a mechanical arm tail end TCP coordinate systemTransformation matrix^TipT_E：

Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target pose^E′T_BThe method comprises the following steps:

when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate system^TipT_BEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate system^Tip′T_BThus, the following relationship is present:

^TipT_B＝^Tip′T_B

and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate system^TipT_BComprises the following steps:

^TipT_B＝^TipT_E·^ET_B

therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical arm^E′T_BComprises the following steps:

^E′T_B＝(^TipT_E)^-1·^TipT_B＝(^TipT_E)^-1·^Tip′T_B

step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical arm^E′T_BGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;

step S10, when the movement of each joint of the mechanical arm of the dental implant robot is finished, the tool tip is calculated to be on machinePosition coordinate A under mechanical arm base coordinate system "_BAnd the direction vector of the tool in the coordinate system of the base of the arm

The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "_BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5_BComparing to obtain a position coordinate error;

the direction vector of the tool under the coordinate system of the base of the mechanical armAnd the entry point direction of the target path in the robot arm base coordinate system obtained in step S5Comparing to obtain a direction vector error;

step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.

Preferably, the patient tracer comprises 9 titanium beads, 4 positioning spheres and a rigid support that is not readily imaged in a CT scan image;

wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.

Preferably, the tool tracer includes a rigid support and 4 positioning balls fixedly mounted at the end of the robot arm, each positioning ball having known coordinates in the tool tracer coordinate system.

Preferably, in step S5, the parameters are obtained by:

^CT_S: measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;

^ST_O: the coordinate of a positioning ball on a tracer of a patient is measured and calculated by an optical positioning instrument;

^OT_T: the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;

^TT_E: is obtained by calibration of hands and eyes;

^ET_B: read directly by the robot arm controller.

The navigation and positioning method for the dental implant robot provided by the invention has the following advantages:

the invention utilizes the measurement of the CT scanner and the optical locator to establish the coordinate system conversion relation between the dental implant path of the patient and the surgical knife, thereby guiding the mechanical arm to move, driving the surgical knife to reach the entry point position and the direction of the target path, and adopting the mechanical arm to drive the surgical knife to move.

Drawings

Fig. 1 is a schematic view of a robot navigation and positioning device for dental implantation provided by the invention;

FIG. 2 is a schematic view of a patient tracer provided by the present invention;

fig. 3 is a schematic diagram of a tool tracer provided by the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Compared with the manual operation of doctors, the robot navigation positioning method has the advantages that the mechanical arm has accurate positioning, small vibration and stable work, the working strength of the doctors can be reduced, the surgical precision is ensured, and the robot navigation positioning can guide the mechanical arm to drive the surgical cutter to realize accurate surgery.

Referring to fig. 1, the method for navigating and positioning a dental implant robot according to the present invention is a method for navigating and positioning a dental implant robot for efficiently and accurately guiding a surgical tool to a target path, and performs navigation and positioning of the robot by measuring with an optical positioning instrument and converting a coordinate system, and guiding the surgical tool to the target path, and includes the following steps:

step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;

wherein, as shown in fig. 2, the patient tracer comprises 9 titanium beads, 4 positioning balls and a rigid support which is not easy to image in the CT scanning image;

wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.

Step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;

step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate system_CAnd the entry point directionWherein the entry point position A_CAnd the entry point directionForming an entrance point target pose under a CT coordinate system;

step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; referring to fig. 1, wherein 1 denotes a robot base, 2 denotes a multi-joint robot, 3 denotes a surgical tool, and 4 denotes a tool tracer. 5 for the patient tracer and 6 for the optical locator. The mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;

additionally, referring to fig. 3, the tool tracer includes a rigid support and 4 positioning balls fixedly mounted at the end of the robot arm, each positioning ball having known coordinates in the tool tracer coordinate system.

Step S5, the entry point position A of the target path under the CT coordinate system determined in step S3_CAnd the entry point directionConverting the position into an entry point position A of a target path under a mechanical arm base coordinate system_BAnd the entry point direction

Wherein:

i is a unit vector of 3 rows and 3 columns;

^CT_Sa transformation matrix from a CT coordinate system to a patient tracer coordinate system; measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;

^ST_Oa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder; tracing a patient by an optical position finderThe coordinates of a positioning ball on the device are measured and calculated;

^OT_Ta transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system; the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;

^TT_Ea transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm; is obtained by calibration of hands and eyes; the hand-eye calibration method comprises the following steps: and establishing a conversion relation between a TCP coordinate system at the tail end of the mechanical arm and a coordinate system of a tool tracer fixedly arranged on the mechanical arm in an external measurement mode.

^ET_BA conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm; read directly by the robot arm controller.

Step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

In this step, the motion control of the mechanical arm is based on the transformation relationship of the coordinate system, and the motion control of the mechanical arm cannot be performed only by giving the entry point position and the direction of the target path, so that a tool target pose coordinate system needs to be established according to the entry point position and the direction of the target path to further calculate the transformation relationship of the coordinate system, and the tool target pose coordinate system Tip' is transformed to the mechanical arm base coordinate system, so that the mechanical arm can be mechanically controlled.

S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;

origin of coordinates o: the entry point position A of the target path in the robot base coordinate system_BIs the origin of coordinates;

the x axis is as follows: the entry point direction of the target path in the robot base coordinate systemIs the x-axis;

and a y axis: coordinates of a Z axis of a TCP coordinate system at the tail end of the mechanical arm on a base of the mechanical armDirection vector of the systemAndas a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system

And a z-axis: to be provided withAndas a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system

The method for defining the pose coordinate system Tip' of the surgical knife target has the advantages that: 1) the mutual perpendicularity among the x axis, the y axis and the z axis of the tool target pose coordinate system can be ensured; 2) and the z axis of the tool target pose coordinate system is approximately parallel to the z axis of the TCP coordinate system at the tail end of the mechanical arm, so that subsequent calculation and control of the mechanical arm movement are facilitated.

S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate system^Tip′T_B：

Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate system^TipT_E：

S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o₁Determining x₁Axis, y₁Axis and z₁A shaft;

origin of coordinates o₁: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical arm_EIs the origin of coordinates;

x₁shaft: direction vector of tool direction under TCP coordinate system at tail end of mechanical armAs x₁Direction vector of shaft under TCP coordinate system at tail end of mechanical arm

y₁Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm andas a result of cross multiplication of (a) as y₁Direction vector y of shaft under TCP coordinate system at tail end of mechanical arm_E；

z₁Shaft: to be provided withAnd y_EAs a result of cross multiplication of (a) as z₁Direction vector z of shaft under TCP coordinate system at tail end of mechanical arm_E；

The advantages of the definition of the coordinate system Tip of the surgical knife are as follows: 1) x capable of ensuring surgical knife coordinate system Tip₁Axis, y₁Axis and z₁The axes are mutually vertical; 2) z of the surgical tool coordinate system Tip₁The axis is approximately parallel to the axis Z of the TCP coordinate system at the tail end of the mechanical arm and the tool target pose coordinate system, so that the tail end of the mechanical arm does not need to swing a large angle to adjust the direction of the axis Z of the tool in the process of reaching the target pose of the tool, and the motion control of the mechanical arm is facilitated.

S7.2, constructing and obtaining a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate system^TipT_E：

Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target pose^E′T_BThe method comprises the following steps:

when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate system^TipT_BEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate system^Tip′T_BThus, the following relationship is present:

^TipT_B＝^Tip′T_B

and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate system^TipT_BComprises the following steps:

^TipT_B＝^TipT_E·^ET_B

therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical arm^E′T_BComprises the following steps:

^E′T_B＝(^TipT_E)^-1·^TipT_B＝(^TipT_E)^-1·^Tip′T_B

step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical arm^E′T_BGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;

step S10, when the motion of each joint of the mechanical arm of the dental implant robot is finished, the position coordinate A of the tip of the tool under the coordinate system of the base of the mechanical arm is calculated "_BAnd the direction vector of the tool in the coordinate system of the base of the arm

The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "_BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5_BComparing to obtain a position coordinate error;

the direction vector of the tool under the coordinate system of the base of the mechanical armAnd the entry point direction of the target path in the robot arm base coordinate system obtained in step S5Comparing to obtain a direction vector error;

step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.

The invention utilizes the measurement of the CT scanner and the optical locator to establish the coordinate system conversion relation between the dental implant path of the patient and the surgical knife, thereby guiding the mechanical arm to move, driving the surgical knife to reach the entry point position and the direction of the target path, and adopting the mechanical arm to drive the surgical knife to move.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.